JP5831601B2 - Conveying apparatus, image forming apparatus, conveyed medium conveying method, program - Google Patents

Description

  The present invention relates to a transport device that transports a sheet-like transported medium, and more particularly to a transport device, an image forming apparatus, a transported medium transport method, and a program that control the rotation speed of a transport rotating unit that transports the transported medium. .

  The image forming apparatus transfers the toner image formed on the intermediate transfer belt or the photosensitive drum in the transfer unit onto the recording paper, and then fixes the toner image on the recording paper with heat and pressure. In the transfer section, the transfer roller presses the recording paper against the intermediate transfer belt or the photosensitive drum. There is a transfer timing roller or a registration roller (hereinafter referred to as an upstream roller) upstream of the transfer section. When the size of the recording paper exceeds a predetermined value, the recording paper is transferred to a secondary transfer roller (hereinafter referred to as a downstream roller) and an upstream roller. A state straddling is generated. Since the rotation speeds of the downstream roller and the upstream roller are controlled separately, if the recording paper straddles the downstream roller and the upstream roller, the fixing device pulls the recording paper due to a slight difference in the rotation speed between the two. In addition, it is known to cause pushing by a downstream roller (hereinafter referred to as torque delivery).

  When torque is transferred between the two rollers, the image quality may be deteriorated or color misregistration may occur, for example, slip may occur in either the upstream roller or the downstream roller. In particular, if the weight of the recording paper (the weight of the unit area) is large (the recording paper is strong) and the peripheral speed of the upstream roller is faster than the peripheral speed of the downstream roller, slippage may occur in the downstream roller due to the pushing. Becomes higher.

  With respect to this point, a technique for forming an intentional loop on a recording sheet in a conveyance path of a fixing device is known (see, for example, Patent Document 1). Patent Document 1 discloses an image forming apparatus that determines an appropriate loop amount and corrects the rotation speed of the fixing roller every predetermined time using a comparison result between this value and the actual loop amount.

  In addition, when the recording paper arrives at the downstream roller, a technique for eliminating the torque delivery by reducing the force with which the roller pair of the upstream roller pinches the recording paper is also considered. According to this technique, even when the recording paper is straddled between the downstream roller and the upstream roller, the recording paper of the upstream roller is not pinched, so that the image quality is not deteriorated due to the transfer of torque.

  However, the image forming apparatus disclosed in Patent Document 1 has to store an appropriate loop amount in advance, and there is a problem that the correction amount of the rotation speed of the fixing roller depends on the appropriate loop amount. . For example, since it is considered that the amount of torque transferred between two rollers changes depending on the humidity of the day and the aging of the device, it is difficult to determine an appropriate loop amount in advance. Therefore, there is no guarantee that the rotation speed of the fixing roller controlled based on the comparison result between the appropriate loop amount and the actual loop amount is accurate. In particular, it is often difficult to make a loop for a recording paper having a large weight.

  In addition, the technology that reduces the force with which the roller pair of the upstream roller pinches the recording paper increases the cost because an actuator that makes the interval between the upstream roller pair variable is required, and it is easy to secure a space for mounting the actuator. There is a problem that is not.

  SUMMARY An advantage of some aspects of the invention is that it provides a conveyance device, an image forming apparatus, a conveyance medium conveyance method, and a program that can reduce torque interference between two rollers.

  In view of the above problems, the present invention rotates a transport medium that is disposed downstream or upstream of a first transport rotation unit that transports a sheet-shaped transport medium in a rotation direction, and the first transport rotation unit. Second rotating means for rotating the first conveying rotating means, first rotating body driving means for rotating the first conveying rotating means, and second rotating body driving means for rotating the second conveying rotating means And a first speed control means for controlling the rotational speed of the first rotating body driving means to a first target speed, and a rotational speed of the second rotating body driving means to a second target speed. Second speed control means for controlling, and the second speed control means is a first controller used when only the second rotating body driving means transports the transported medium. The transport medium is the first transport rotating means and the second transport rotating means. A second controller used when transported by both, and a gain of the predetermined low frequency region of the second controller is lower than a gain of the predetermined low frequency region of the first controller The difference between the gain of the predetermined low frequency region of the first controller and the gain of the predetermined low frequency region of the second controller is the difference between the gain of the predetermined high frequency region of the first controller and the gain of the first controller. 2. A transport apparatus, wherein the difference is larger than a difference between the gain of the predetermined controller and the predetermined high-frequency region.

  It is possible to provide a conveyance device, an image forming apparatus, a conveyance medium conveyance method, and a program that can reduce torque interference between two rollers.

1 is an example of an overall configuration diagram of an image forming apparatus. 1 is an example of a schematic configuration diagram of an inkjet image forming apparatus. It is an example of the figure explaining the structure of a secondary transfer part and a registration roller. FIG. 4 is an example of a diagram illustrating configurations of a secondary transfer unit and an upstream transfer timing roller. It is an example of hardware configuration diagrams, such as a control apparatus. It is an example of a control block diagram of a transfer timing roller. It is a figure which shows an example of a Bode diagram. It is a figure which shows an example of the relationship between time and speed deviation. It is a flowchart figure which shows an example of the procedure in which a motor control part controls the rotational speed of a transfer timing roller. FIG. 6 is an example of a Bode diagram when the proportionality constant kp is half (1/2) that of the controller 1; It is a flowchart figure which shows an example of the procedure in which a motor control part controls the rotational speed of a transfer timing roller. It is an example of the control block diagram of a motor control part. It is a flowchart figure which shows an example of the procedure in which a motor control part controls the rotational speed of a transfer timing roller. It is an example of the control block diagram of a motor control part. It is an example of a schematic block diagram of a secondary roller and a fixing roller. It is an example of hardware configuration diagrams, such as a control apparatus. FIG. 10 is a flowchart illustrating an example of a procedure in which a motor control unit of a fixing motor controls a rotation speed of a fixing roller.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.

  The outline of the characteristic part of the image forming apparatus 100 of the present embodiment will be described. In the image forming apparatus 100 according to the present exemplary embodiment, the time from when the recording sheet conveyed only by the upstream roller enters the downstream roller until the time when only the downstream roller conveys the recording sheet (the recording sheet reaches the upstream roller and the downstream roller). In this state, the upstream roller is controlled like the driven roller of the downstream roller.

  Therefore, in a state where the recording paper straddles the upstream roller and the downstream roller, it is possible to prevent the upstream roller controlled as the driven roller from pushing the recording paper and the like to cause the upstream roller or the downstream roller to slip.

  “Straddling” means a state in which the recording paper is held by a force larger than “0” in both the upstream and downstream rollers. The recording paper is transported by a pair of rollers, but in this embodiment, “pair” is omitted.

[Schematic configuration of image forming apparatus]
FIG. 1 shows an example of an overall configuration diagram of the image forming apparatus 100. The image forming apparatus 100 includes an automatic document feeder (ADF) 140, an image reading unit 130, a writing unit 110, an image forming unit 120, and a paper feeding unit 150. The ADF 140 conveys the originals stacked on the original feeding table one by one onto the contact glass of the image reading unit, and after reading the image data of the originals, discharges them on the paper discharge tray.

  The document reading unit 130 includes a contact glass 11 for placing a document and an optical scanning system, which includes an exposure lamp 41, a first mirror 42, a second mirror 43, a third mirror 44, and a lens. 45 and a full-color CCD 46. The exposure lamp 41 and the first mirror 42 are mounted on the first carriage, and the first carriage moves in the sub-scanning direction at a constant speed by a stepping motor when reading a document. The second mirror 43 and the third mirror 44 are mounted on the second carriage, and the second carriage moves at a speed approximately half that of the first carriage by the stepping motor when reading the document. As the first carriage and the second carriage move, the image surface of the document is optically scanned, and the read data is imaged on the light receiving surface of the full-color CCD 46 by a lens and is photoelectrically converted.

  Next, the image data photoelectrically converted to each color of red (R), green (G) and blue (B) by the full color CCD (or full color line CCD) 46 is A / D converted by an image processing circuit (not shown). After that, various kinds of image processing (γ correction, color conversion, image separation, gradation correction, etc.) are performed by the image processing circuit.

  When the user instructs a copying operation or when the image forming apparatus 100 is used as a printer, the writing unit 110 forms a latent image on the photosensitive drum for each color. In the figure, four photoconductor units 13 (13y for yellow, 13m for magenta, 13c for cyan, and 13k for black) are arranged in parallel along the conveyance direction of the intermediate transfer belt 14. Each of the photosensitive units 13y, 13m, 13c, and 13k includes drum-shaped photosensitive drums 27y, 27m, 27c, and 27k that are image carriers, and a charging device 48y that charges the photosensitive drums 27y, 27m, 27c, and 27k. 48m, 48c, 48k, exposure devices 47y, 47m, 47c, 47k, developing devices 16y, 16m, 16c, 16k and cleaning devices 49y, 49m, 49c, 49k.

  The exposure devices 47y, 47m, 47c, and 47k include, for example, a light emitting diode (LED) array and a lens array arranged in the axial direction (main scanning direction) of the photosensitive drums 27y, 27m, 27c, and 27k in the illustrated example. Exposure is performed using an LED writing method. The exposure devices 47y, 47m, 47c, and 47k emit LEDs according to the image data photoelectrically converted for each color to form electrostatic latent images on the photosensitive drums 27y, 27m, 27c, and 27k. In the developing devices 16y, 16m, 16c, and 16k, the developing roller that carries the developer rotates and visualizes the electrostatic latent images formed on the photosensitive drums 27y, 27m, 27c, and 27k with toner. A toner image is formed every time.

  The toner images formed on the photosensitive drums 27y, 27m, 27c, and 27k are intermediate transfer belts at positions where the photosensitive drums 27y, 27m, 27c, and 27k are in contact with the intermediate transfer belt 14 (hereinafter referred to as primary transfer positions). 14 is transferred. On the photosensitive drums 27y, 27m, 27c, and 27k, intermediate transfer rollers 26y, 26m, 26c, and 26k are arranged to face the photosensitive units 13y, 13m, 13c, and 13k, respectively, via the intermediate transfer belt 14. . Each of the intermediate transfer rollers 26y, 26m, 26c, and 26k is brought into contact with the inner peripheral surface of the intermediate transfer belt 14 to bring the intermediate transfer belt 14 into contact with the surface of each photoconductor. By applying a voltage to each of the intermediate transfer rollers 26y, 26m, 26c, and 26k, an intermediate transfer electric field for transferring the toner images on the photosensitive drums 27y, 27m, 27c, and 27k to the intermediate transfer belt 14 is generated. To do. A toner image is formed on the intermediate transfer belt 14 by the action of the intermediate transfer electric field. The toner images of the respective colors are superimposed and transferred, and a full color toner image is formed on the intermediate transfer belt 14.

  When image formation and transfer of all colors are completed, the recording paper 53 is fed from the paper feed tray 22 in time with the intermediate transfer belt 14, and four colors are simultaneously transferred from the intermediate transfer belt 14 by the secondary transfer unit 50. The toner image is secondarily transferred to the recording paper 53.

  The recording paper 53 is selected from any of the first tray 22a, the second tray 22b, the third tray 22c, the fourth tray 22d, or a duplex unit (not shown). Each of the paper feed trays 22a to 22d individually feeds a plurality of recording papers 53 that have been multi-fed by the paper feed roller 28 and the paper feed roller 28 that sequentially feed the recording paper 53 accommodated therein from the top. A separation roller 31 is provided that is separated and sent to the conveyance path 23. As a result, the recording paper 53 is started to be transported toward the transport path 23.

  The recording paper 53 is generally plain paper, but the recording paper 53 is a sheet of paper such as glossy paper, cardboard, postcard, etc., OHP sheet, film, etc. (corresponding to the transported medium in the claims) ). The length in the longitudinal direction of the sheet may be sufficiently shorter than the short direction, or so-called continuous paper.

  The sheet feeding unit 150 includes a plurality of conveyance roller pairs 29 and the like appropriately provided in the middle of the conveyance path 23. The transport roller pair 29 feeds the recording paper 53 transported from the paper feed tray 22 toward the transport roller pair 29 at the subsequent stage and the paper feed path 32 of the writing unit 110. The recording paper 53 fed into the paper feed path 32 is abutted against the registration roller 33 and stops once when a predetermined time elapses after the leading edge is detected by the registration sensor 51. The registration roller 33 feeds the sandwiched recording paper 53 to the position of the secondary transfer roller 18 at a predetermined timing (in synchronization with the sub-scanning effective period signal (FGATE)). The predetermined timing is a timing at which the full-color superimposed toner image is conveyed to the position of the secondary transfer roller 18 by the rotation of the intermediate transfer belt 14. In addition, a transfer timing roller 38 may be disposed downstream of the registration roller 33.

  The secondary roller 18 is disposed opposite to the repulsive roller 17. The image forming apparatus 100 causes the secondary transfer roller 18 to contact the intermediate transfer belt 14 during printing. The secondary roller 18 is controlled by the secondary motor 64 so that the outer peripheral speed of the secondary roller is the same as the surface speed of the intermediate transfer belt 14.

  The recording paper 53 is separated from the intermediate transfer belt 14 by a separator (not shown) and then conveyed to the fixing device 19 by the conveying belt 24, and the fixing device 19 fixes the toner image on the recording paper 53. In the case of single-sided printing, the recording paper 53 after fixing is discharged onto the paper discharge tray 21.

  This embodiment has a feature in the method for transporting the recording paper 53, and is not limited by the image forming method. In this embodiment, the description is based on the electrophotographic image forming apparatus 100 as shown in FIG. 1, but the present invention may be applied to a paper conveyance system of the ink jet type image forming apparatus 100 as shown in FIG. .

  FIG. 2 shows an example of a schematic configuration diagram of an inkjet image forming apparatus 100. 2, the same parts as those in FIG. 1 are denoted by the same reference numerals, and the description thereof is omitted.

  The image forming apparatus 100 in FIG. 2 includes an image reading unit 130, an image forming unit 120, and a paper feeding unit 150. Note that the ADF 140 may be included. A paper discharge tray 21 is formed between the image reading unit 130 and the image forming unit 120.

  The recording paper 53 fed from the paper feeding tray 22 of the paper feeding unit 150 is conveyed to the paper discharging tray 21 by using the dotted line shown in the figure as a recording paper conveyance path. A transport roller 125 is appropriately installed in the recording paper transport path. A manual feed tray 128 is provided on the right side of the drawing, and the recording paper 53 is also fed from the manual feed tray 128 via the paper feed roller 129.

  The recording paper 53 fed from the paper feed tray 22 is temporarily stopped by the registration roller 33. The registration roller 33 resumes the conveyance of the recording paper 53 in accordance with the print start timing and conveys it to the electrostatic attraction belt 8. The recording paper 53 is electrostatically adsorbed on the electrostatic attraction belt 8. The carriage 121 located on the electrostatic attraction belt 8 is mounted with the print head 122 and reciprocates in the main scanning direction (perpendicular to the paper surface), and ejects ink droplets from the print head 122 to form an image. . Like the toner, it has a head for each color of cyan, magenta, yellow, and black. The print head 122 is replenished with ink for each color from the ink cartridge 123 via a supply tube (not shown).

  The recording paper 53 is conveyed in the sub-scanning direction by the circular movement of the electrostatic attraction belt 8. The image forming apparatus 100 detects the amount of movement in the sub-scanning direction and moves the electrostatic attraction belt 8 to perform highly accurate positioning. At the positioned position, the image forming apparatus 100 ejects ink droplets onto the stopped recording paper 53 by driving the print head 122 according to the image signal while moving the carriage 121 in the forward and backward directions. One line is recorded, the recording paper 53 is conveyed by a predetermined amount, and then the next line is recorded. When the image forming apparatus 100 receives a signal indicating that the trailing edge of the recording paper 53 has reached the recording area, the image forming apparatus 100 ends the recording operation and discharges the recording paper 53 to the paper discharge tray 21.

  Instead of the serial ink jet system that reciprocates the carriage 121 as shown, a line head ink jet image forming unit 120 with a fixed head may be mounted. Further, instead of the electrostatic adsorption method as the paper conveyance method, an air adsorption method using negative pressure or a roller with increased surface friction may be used.

  Also in the inkjet image forming apparatus 100 as shown in FIG. 2, torque interference occurs between the registration roller 33 and the electrostatic attraction belt 8. The conveyance of the recording paper 53 by the electrostatic attraction belt 8 requires particularly high-precision positioning. Therefore, when torque interference becomes large, it takes time to reach the target position, and the position deviation becomes large. Becomes larger, leading to a decrease in image quality. Further, when the recording paper 53 is pushed by the registration roller 33, the paper conveyance load is reduced and the driver or drive transmission system enters a non-linear region, and the control system becomes unstable similarly to the electrophotographic paper conveyance. turn into. Further, when the pushing force is large, the recording paper 53 slides on the electrostatic attraction belt 8.

  Therefore, by applying the transport method of the present embodiment to such an ink jet type image forming apparatus 100 as well, it is possible to improve color misregistration and image quality degradation. In addition, a sublimation thermal transfer method and a dot impact method may be adopted for the image forming unit 120.

  FIG. 3 is an example of a diagram illustrating the configuration of the secondary transfer unit 50 and the registration roller 33. In FIG. 3, the description of the same parts as those in FIG. 1 is omitted. The intermediate transfer belt 14 rotates clockwise as shown in the figure by the rotational force of the intermediate transfer roller 20. The intermediate transfer roller 20 is driven to rotate by the intermediate transfer motor 61. The intermediate transfer roller 20 and the intermediate transfer motor 61 have gears that rotate coaxially, and the intermediate transfer roller 20 is rotated by transmission of power obtained by meshing the two gears. The tension roller 15 and the repulsive roller 17 in the intermediate transfer belt 14 are driven rollers that rotate following the rotation of the intermediate transfer roller 20. The tension roller 15 is a roller that applies a predetermined tension to the intermediate transfer belt 14. The intermediate transfer roller 20 may be disposed at the position of the tension roller 15. The roller 52 is a roller that adjusts the close contact between the three rollers in the intermediate transfer belt 14 and the intermediate transfer belt 14.

  The secondary transfer roller 18 is disposed so as to be pressed against the repulsion roller 17 via the intermediate transfer belt 14. That is, the secondary roller 18 is biased in the direction of the repulsive roller 17, and at least when the recording paper 53 passes between the secondary roller 18 and the intermediate transfer belt 14, The recording paper 53 is nipped by the roller. The secondary transfer roller 18 secondarily transfers the toner image on the intermediate transfer belt 14 to the recording paper 53 by a secondary transfer electric field generated by the sandwiched pressure and the voltage applied to the secondary transfer roller 18.

  A registration roller 33 and an upper roller 34 are disposed upstream of the secondary transfer unit 50. A start edge detection sensor 30 that detects that the leading edge of the recording paper 53 has arrived is disposed downstream of the registration roller 33. The registration roller 33 is rotationally driven by the rotational force of the registration motor 87. The start end detection sensor 30 and the registration motor 87 are electrically connected to the control device 200. The control device 200 controls the rotation speed of the registration motor 87.

  The registration roller 33 is biased in the direction of the upper roller 34, and at least when the recording paper 53 passes between the registration roller 33 and the upper roller, the registration roller 33 and the upper roller pinch the recording paper 53.

  As described above, the recording paper 53 conveyed from the paper feed tray 22 is temporarily stopped by the registration roller 33, and the control device 200 aligns the position of the recording paper 53 with the toner image on the intermediate transfer belt 14. The rotation of the registration motor 87 is started. The registration roller 33 conveys the recording paper 53 and enters the secondary roller 18 (the recording paper 53 does not have to be stopped by the registration roller 33). As a result, the recording paper 53 straddles the registration roller 33 and the secondary transfer roller 18, and torque can be transferred between the registration roller 33 and the secondary transfer roller 18. Therefore, the control device 200 controls the rotation speed of the registration motor 87 so that the registration roller 33 rotates like the driven roller of the secondary transfer roller 18.

  The roller on the upstream side of the secondary transfer unit 50 is not necessarily the registration roller 33. The control device 200 of this embodiment can control the roller on the upstream side of the secondary transfer unit 50 to rotate like the driven roller of the secondary transfer roller 18 according to the design of the image forming apparatus 100.

  FIG. 4 is an example of a diagram illustrating the configuration of the secondary transfer unit 50 and the upstream transfer timing roller 38. In FIG. 4, the description of the same parts as in FIG. 3 is omitted. In FIG. 4, a transfer timing roller 38 is disposed on the downstream side of the registration roller 33 and on the upstream side of the secondary transfer roller 18. Further, a sheet passage detection sensor 37 is disposed downstream of the transfer timing roller 38.

  The control device 200 detects the passage of the recording paper 53 (paper edge) by the paper passage detection sensor 37 and detects the passage of the paper at the timing when the toner image formed on the intermediate transfer belt 14 arrives at the secondary transfer unit 50. The transfer timing motor 35 is controlled so that the recording paper 53 arrives from the sensor 37 to the secondary transfer unit 50. Hereinafter, the configuration of FIG. 4 will be described as an example.

  FIG. 5 is an example of a hardware configuration diagram of the control device 200 and the like. The control device 200 includes a motor control unit 81 and a motor driver 83. The motor control unit 81 is connected to the main control unit 78. The motor driver 83 is connected to the transfer timing motor 35. Note that a transfer encoder 39 for feedback control is connected to the transfer timing roller 38, and the transfer encoder 39 is connected to a motor control unit 81. The motor driver 83 is a circuit that supplies a motor current corresponding to the speed instruction value instructed from the motor control unit 81 to the transfer timing motor 35. For example, the motor driver 83 determines the duty ratio of the PWM signal according to the speed instruction value, and turns on / off the FET connected to each phase of the transfer timing motor 35 with the PWM signal of this duty ratio. The motor driver 83 feedback-controls the current value supplied to the transfer timing motor 35 based on the current value detected by the current sensor 82.

  Further, the current sensor 85 in the motor driver 86 is connected to the motor control unit 81, and the motor control unit 81 detects a drive current flowing through the driver of the secondary rotation motor 64. The motor controller 81 of the transfer timing motor 35 can detect that the recording paper 53 has entered the secondary transfer motor 64 by this drive current.

  Although the secondary rotation motor 64 is controlled by the control device 300, the control method is the same as that of the transfer timing motor, and the description thereof is omitted.

  The main control unit 78 is a control board that controls the entire image forming apparatus 100, receives user operations, and rotates to each motor such as the secondary transfer motor 64, the transfer timing motor 35, the paper feed motor, and the fixing motor 66. Instruct driving. An operation unit (not shown) and a memory mounting unit 79 are connected to the main control unit 78. For example, a liquid crystal display unit and a touch panel are integrally mounted on the operation unit, and a user interface serving as a menu display and selection input is provided. The operation unit has various hard keys such as a selection key for switching between a scanner function, a facsimile function, and a copying function, a numeric keypad, a start key, a reset key, and a power switch. The storage medium 79 is detachable from the storage medium 80. A program is stored in the storage medium 80, and the main control unit 78 reads the program via the memory mounting unit 79 and stores it in an HDD, a ROM (not shown) or the like.

  Each of the main control unit 78 and the control devices 200 and 300 is a computer (microcomputer) having a CPU, DSP, RAM, ROM, EEPROM, input / output interface, flash memory, ASIC (Application Specific Integrated Circuit), and the like. . The control devices 200 and 300 realize functions and functional blocks to be described later by an execution of a program by the CPU and ICs such as a DSP and an ASIC.

  The motor control units 81 and 84 instruct the motor drivers 83 and 86 of a speed instruction value (current command value or voltage command value). In this embodiment, it is assumed that the rotation speeds of the transfer timing roller 38 and the secondary transfer roller 18 are constant, but in response to an instruction from the main control unit 78 (for example, the rotation speed is reduced for the thick recording paper 53). Thus, the motor control units 81 and 84 can also variably control the rotation speed.

  FIG. 6 shows an example of a control block diagram of the transfer timing roller 38. FIG. 6 shows a rotation speed feedback loop. In FIG. 6, a comparator 91, a controller 92 (hereinafter referred to as controller 1), a controller 93 (hereinafter referred to as controller 2), and a switching unit 94 correspond to the motor control unit 81 in FIG. The comparator 91 outputs a comparison result between the rotation speed detected by the transfer encoder 39 and calculated by the speed calculation unit 95 and a target rotation speed (hereinafter referred to as target speed) to the controller 1 and the controller 2. For example, the controller 1 and the controller 2 perform calculations according to PI control, and determine a speed to be instructed to the motor driver 83 via the switching unit 94. The target speed is determined so that the outer peripheral speed of the transfer timing roller 38 is approximately equal to the peripheral speed of the secondary transfer roller and the surface speed of the intermediate transfer belt 14.

  Only one of the controller 1 and the controller 2 operates at the same time. The controller 1 controls the rotation speed of the transfer timing roller 38 when only the transfer timing roller 38 transports the recording paper 53 and when the transfer timing roller 38 does not transport the recording paper. The controller 2 controls the rotation speed when both the transfer timing roller 38 and the secondary transfer roller 18 transport the recording paper 53. Details of the controllers 1 and 2 will be described later.

  Switching between the controller 1 and the controller 2 is executed by a switching signal. The switching signal corresponds to a signal indicating that the recording paper 53 has entered the secondary roller 18, but when the controller 1 and the controller 2 are installed in software, the motor control unit 81 supplies the secondary roller 18. When the recording paper 53 is detected, the controller 1 switches to the controller 2. Further, the motor control unit 81 detects that the entire recording paper 53 has been discharged from the transfer timing roller 38 and switches from the controller 2 to the controller 1.

  The controller 1 and the controller 2 respectively multiply the speed deviation by a predetermined gain or a predetermined filter process, and output the result to the motor driver 83 as a speed instruction value. The controller 1 and the controller 2 are typified by classical control theory such as PI, PID, phase advance and phase lag, state feedback theory based on modern control theory that feeds back the state quantity of the transfer timing roller 38, or H∞ control. Any compensation method such as robust control theory can be adopted.

  The motor driver 83 is a current control driver that outputs a motor current according to a speed instruction value (or a voltage control driver that outputs a motor voltage according to a voltage command value). The transfer timing motor 35 is driven by a drive current output from the motor driver 83 in accordance with the speed instruction value. The driving force of the transfer timing motor 35 rotationally drives the transfer timing roller 38 via a transmission mechanism. As the transfer timing motor 35, a DC motor (with brush or brushless), AC servo motor, stepping motor, or the like can be used.

  The rotation speed of the transfer timing roller 38 is detected by a transfer encoder 39. The rotation speed is input to the speed calculation unit 95, converted into a target speed and a value for comparison, and fed back to the comparator 91. The speed calculation method may be a method using a difference between counter values of encoder pulses or a period counter method in which the edge of an encoder pulse is measured with a reference clock. The speed calculation unit 95 may be mounted so as to be included in the transfer encoder 39 in FIG. 5 or may be mounted so as to be included in the motor control unit 81.

[Speed compensation of controller 2]
The speed compensation of this embodiment will be described. In the case of a software servo that performs speed compensation by software, the controller 1 and the controller 2 are realized by switching the equation for calculating the current command value or changing the parameter of the equation using the same equation.

  For example, when software servo is implemented by a PI (proportional and integral) filter based on classical control theory used in a general motor drive system, an equation for calculating a current command value can be expressed as the following equation.

式（１）では、ｕ（ｎ）が速度偏差、ｙ（ｎ）が速度指示値に対応する。サンプリング時間ｔｓは、転写エンコーダ３９が回転速度を検出する周期又は速度指示値の演算周期である。ゲインを示すパラメータである比例定数kp、積分定数kiを変更することで、コントローラ１とコントローラ２を切換えたことになる。なお、コントローラ１の比例定数kp、積分定数kiは、予め転写タイミングローラ３８のみが記録紙５３を搬送する際に適切な速度補償が得られるように、予め定められている。

In Expression (1), u (n) corresponds to the speed deviation, and y (n) corresponds to the speed instruction value. The sampling time ts is a cycle in which the transfer encoder 39 detects the rotation speed or a calculation cycle of the speed instruction value. The controller 1 and the controller 2 are switched by changing the proportional constant kp and the integral constant ki, which are parameters indicating the gain. The proportional constant kp and the integral constant ki of the controller 1 are determined in advance so that appropriate speed compensation can be obtained when only the transfer timing roller 38 transports the recording paper 53.

  The operation when only the integration constant ki is set to “0” will be described using the Bode diagram of FIG. In FIG. 7, the gain curve and phase curve of the controller 1 are indicated by dotted lines, and the gain curve and phase curve of the controller 2 are indicated by solid lines.

  As shown in the gain curve of the controller 2, in the equation (1), when the integration constant ki is changed to zero, the integral characteristic becomes zero, so the gain in the low frequency region is lower than the gain of the controller 1 To do. That is, the responsiveness in the low frequency region is reduced. The low frequency domain gain indicates how much the rotational speed is compensated for slow speed deviation variations. In particular, the gain in the low frequency region indicates the degree of compensation for the DC component of the speed deviation. Therefore, the gain curve of the controller 2 means that there is no gain reduction in the low frequency region and no DC component compensation.

  Immediately after the recording paper 53 enters the secondary transfer roller 18, the rotational speed of the transfer timing roller 38 decreases due to the entry load. Here, setting the integral constant ki to zero and setting only proportional control means that a steady speed deviation (deviation of the rotational speed with respect to the target speed) occurs. Proportional control has the property that when the control amount approaches the target value, it is stabilized in a state close to the target value. Even if the integration constant ki becomes zero, the transfer timing roller 38 assists the conveyance load of the recording paper 53 by the action of the proportional constant kp, but does not perform the operation of pushing the secondary transfer roller 18, so It is conveyed while applying a slight tension. That is, the transfer timing roller 38 behaves like the driven roller of the secondary transfer roller 18.

  On the other hand, from the Bode diagram of FIG. 7, the gain curve has a value similar to that of the gain curve of the controller 1 in the high frequency region, so that the motor control unit 81 follows the rapid speed fluctuation and transfers the transfer timing motor 35. The rotation speed can be controlled.

  This will be described in more detail with reference to FIG. FIG. 8 shows an example of the relationship between time and speed deviation. Since the speed deviation on the vertical axis is “rotational speed−target speed”, a negative value means that the rotational speed is smaller than the target speed. The unit of the speed deviation may be any unit such as [rad / sec], and may be expressed as a percentage.

  In FIG. 8, the recording paper 53 entered the secondary roller 18 at time “0.01 seconds”. In the controller 1, the rotational speed of the transfer timing roller 38 suddenly decreases due to the inrush load, but the speed deviation approaches 0 with time. On the other hand, when the integral constant ki is set to zero, it is possible to respond to the speed fluctuation in the high frequency region in the same manner as the controller 1, so that the rotational speed of the transfer timing roller 38 is suddenly decreased by the inrush load. Deviations remain constant.

  Since the speed deviation is a negative value, it can be seen that the rotational speed of the transfer timing roller 38 is slower than that of the secondary transfer roller 18, that is, a slight tension is applied to the recording paper 53. As described above, the transfer timing roller 38 does not perform the operation of pushing the recording paper 53 in the direction of the secondary transfer roller 18, so that the drive torque of the secondary transfer roller 18 becomes near zero or negative torque (brake). This eliminates the instability of the control system.

  As described above, the control for setting the integration constant ki to zero is control for reducing the responsiveness to speed control in at least a predetermined low frequency region.

  In this embodiment, the integration constant ki of the controller 2 is set to zero. However, the integration constant ki of the controller 2 is sufficiently smaller than the integration constant ki of the controller 1 without setting the integration constant ki of the controller 2 to zero. The same effect can be obtained as a value. For example, the integral constant ki of the controller 2 may be 1/10 of the integral constant ki of the controller 1. Even if the integral constant ki of the controller 2 is set to ½ of the integral constant ki of the controller 1, a certain degree of effect can be obtained. As described above, the integration constant ki of the controller 2 can be appropriately designed between less than 1/2 and zero with respect to the integration constant ki of the controller 1, for example.

[Operation procedure]
FIG. 9 is a flowchart illustrating an example of a procedure in which the motor control unit 81 controls the rotation speed of the transfer timing roller 38. The flowchart of FIG. 9 starts when the image forming apparatus 100 starts printing on the recording paper 53, for example.

  The main control unit 78 transmits a drive command to the motor control unit 81. At this time, the main control unit 78 may instruct the target speed, but the target speed is instructed so that the outer peripheral speeds of the transfer timing motor 35 and the secondary transfer motor 64 are the same.

  When receiving the drive command, first, the motor control unit 81 starts the speed control of the transfer timing roller 38 (S10).

  Next, the motor control part 84 starts control of the rotational speed of the secondary rotation motor 64 (S20).

Next, the motor control unit 81 determines whether or not the recording paper 53 has entered the secondary transfer roller 18 (S30). There are the following methods for determining whether or not the recording paper 53 has entered the secondary roller 18.
(1) Estimating the timing when the recording paper 53 arrives from the transfer timing roller 38 to the secondary transfer roller 18 (2) Estimating the timing when the recording paper 53 arrives from the paper passage detection sensor 37 to the secondary transfer roller 18 ( 3) A case where the determination method (1) for monitoring the drive current detected by the current sensor 85 of the motor driver 86 of the secondary rotation motor 64 is described will be described. Since the transfer timing roller 38 is a roller for adjusting the timing at which the recording paper 53 enters the secondary transfer roller 18 to the position of the toner image, the motor control unit 81 specifies the time when the transfer timing roller 38 starts to be driven. Yes. Further, the motor control unit 81 can also detect that the recording paper 53 has arrived at the transfer timing roller 38 and that the recording paper 53 has started to pass due to fluctuations in the drive current detected by the current sensor 82. Further, the conveyance speed of the recording paper 53 and the distance between the transfer timing roller 38 and the secondary transfer roller 18 are known. Therefore, the motor control unit 81 compares the reference time stored in advance with the elapsed time after the recording paper 53 starts to pass through the transfer timing roller 38, and the recording paper 53 is transferred to the secondary transfer roller 18. It is determined that it has entered. Further, since the distance from the paper passage detection sensor 37 to the secondary transfer roller 18 is also known, the determination method (2) is the same as the determination method (1).

  A case where the determination method (3) is employed will be described. The load torque acting on the secondary rotation motor 64 is larger during conveyance of the recording paper 53 than when it is not conveyed. The motor control unit 81 monitors the drive current of the secondary transfer roller 18 after the recording paper 53 has passed the transfer timing roller 38. The motor control unit 81 determines that the recording paper 53 has entered the secondary transfer roller 18 when, for example, the change in the current value becomes equal to or greater than a predetermined value.

  In addition, any one or more of the determination methods (1) to (3) may be adopted, or all of them may be adopted, and the recording paper when the determination is established by one or more determination methods. It may be determined that 53 has entered the secondary roller 18.

  When it is determined that the recording paper 53 has entered the secondary transfer roller 18 (Yes in S30), the motor control unit 81 switches from the controller 1 to the controller 2 (S40). That is, the motor control unit 81 sets the integration constant ki to zero. Thereby, the transfer timing roller 38 behaves like a driven roller of the secondary transfer roller 18.

Subsequently, the motor control unit 81 determines whether or not the recording paper 53 has passed the transfer timing roller 38 (S50). There are the following methods for determining whether or not it has passed.
(4) Estimating the timing at which the entire recording paper 53 passes the transfer timing roller 38 (5) Detecting that the paper passage detection sensor 37 no longer detects the recording paper 53 (6) Motor of the transfer timing motor 35 The determination method of (4) for monitoring the drive current detected by the current sensor 82 of the driver 83 is the same as (1) and (2). The motor control unit 81 determines the entire recording paper 53 from the conveyance speed and the paper size. It can be determined that the sheet has passed the transfer timing roller 38. In the determination method (5), since the paper passage detection sensor 37 no longer detects the recording paper 53, the motor control unit 81 reliably determines that the entire recording paper 53 has passed the transfer timing roller 38. it can. In the determination method (6), the motor control unit 81 determines that the entire recording sheet 53 has passed from the transfer timing roller 38, for example, when the change in the drive current becomes a predetermined value or more. The switching from the controller 2 to the controller 1 may be performed before the next recording paper 53 reaches the transfer timing roller 38.

  When it is determined that the recording paper 53 has passed the transfer timing roller 38 (Yes in S50), the motor control unit 81 switches from the controller 2 to the controller 1 (S60). That is, the motor control unit 81 returns the integration constant ki to the original value.

  Next, the motor control units 81 and 84 determine whether or not a stop request for the transfer timing roller 38 and the secondary transfer roller 18 has been received from the main control unit 78 (S70). The stop request output from the main control unit 78 means, for example, that printing on the recording paper 53 is completed or that there is a paper jam.

  When the stop request for the transfer timing roller 38 and the secondary transfer roller 18 is not received from the main controller 78 (No in S70), the motor controllers 81 and 84 repeat the processing from Step S30. That is, the printing on the second and subsequent recording sheets 53 is repeated.

  When the stop request for the transfer timing roller 38 and the secondary transfer roller 18 is received from the main controller 78 (Yes in S70), the motor controllers 81 and 84 end the control (S80). As a result, the transfer timing roller 38 and the secondary transfer roller 18 are stopped.

  As described above, the image forming apparatus 100 according to the present exemplary embodiment sets the integration constant ki of the PI control system to zero while the recording paper 53 is being conveyed by both the transfer timing roller and the secondary transfer roller 18. Thus, the operation of the transfer timing roller 38 to push the recording paper 53 in the direction of the secondary transfer roller 18 can be eliminated. Accordingly, it is possible to prevent image quality degradation and color misregistration that may occur in the secondary transfer unit 50 due to torque transfer.

  Further, since the gain is lowered only in the low frequency region, the responsiveness (compensation) can be lowered only for the speed fluctuation in the low frequency region.

  In the first embodiment, the integration constant ki is changed to zero in the equation (1). However, in this embodiment, only the proportionality constant kp is reduced, or both the proportionality constant kp and the integration constant ki are both larger than those of the controller 1. The image forming apparatus 100 that changes to a smaller value will be described. Even in this method, it is possible to improve that the transfer timing roller 38 transiently interferes with the secondary transfer roller 18.

  FIG. 10 shows an example of a Bode diagram when the proportionality constant kp is half (1/2) that of the controller 1. In FIG. 10, the gain curve and phase curve of the controller 1 are indicated by dotted lines, and the gain curve and phase curve of the controller 2 are indicated by solid lines.

  By changing the proportionality constant kp or the proportionality constant kp and the integral constant ki to small values at the same time, the response frequency (gain intersection angular frequency) of the drive system can be lowered. As shown in FIG. 10, the gain curve of the controller 2 is −20 [dB / decade], which is known as the slope of the integrator, and is smaller than the gain curve of the controller 1. The response frequency of the controller 1 is 30 [rad / sec], while the response frequency of the controller 2 is 15 [rad / sec]. Therefore, it can be seen that the response frequency is also reduced by the amount by which the proportionality constant kp is reduced.

  A decrease in response frequency means a decrease in gain, and a decrease in compensation for fluctuations in rotational speed (AC component) occurring in the transfer timing roller 38. That is, the responsiveness is lowered over the entire frequency range. Therefore, the influence of the torque of the transfer timing roller 38 on the secondary transfer roller 18 can be reduced. In general, since the control system is weak against the transient response, the transient response when the recording paper 53 enters the secondary roller 18 can be improved.

  This will be described in more detail with reference to FIG. At time “0.01 second”, the recording paper 53 entered the secondary roller 18. In the controller 2 (proportional constant kp = 1/2), the speed fluctuation when the rotational speed of the transfer timing roller 38 suddenly decreases due to the inrush load is larger than that in the controller 1. This means that the influence of the transfer timing roller 38 on the secondary transfer roller 18 is reduced with respect to sudden speed fluctuations. That is, it can be seen that torque interference between the secondary transfer roller 18 and the transfer timing roller 38 is reduced by lowering the gain than the controller 1.

  Further, since the gain indicates the magnitude of the speed compensation, the fact that the gain is reduced has less influence on the secondary transfer roller 18 by the torque generated by the transfer timing roller 38 regardless of the frequency region. It also means. As shown in FIG. 8, the transfer timing roller 38 has a time lag until the rotation speed approaches the target speed, and during that time, the rotation speed is lower than that of the secondary transfer roller 18, so that a tension smaller than that in the first embodiment is recorded. Acting on the paper, the transfer timing roller 38 behaves like the driven roller of the secondary transfer roller 18.

  In this embodiment, the proportional constant kp of the controller 2 is ½ that of the controller 1, but the proportional constant kp is not necessarily ½. For example, the proportional constant kp of the controller 2 may be 3/4 of the proportional constant kp of the controller 1 or may be 1/3 to 1/5. How small the proportionality constant kp of the controller 2 can be designed with respect to the value of the controller 1 can be designed as appropriate.

[Operation procedure]
FIG. 11 is a flowchart illustrating an example of a procedure in which the motor control unit 81 controls the rotation speed of the transfer timing roller 38. The flowchart in FIG. 11 starts when the image forming apparatus 100 starts printing on the recording paper 53, for example.

  In the flowchart of FIG. 11, the description of the same steps as those in FIG. 9 is omitted. In FIG. 11, the processes in steps S40 and S60 are different from those in FIG. That is, when it is determined that the recording paper 53 has entered the secondary transfer roller 18 (Yes in S30), the motor control unit 81 switches from the controller 1 to the controller 2 (S41). That is, the motor control unit 81 sets the proportionality constant kp to ½ of the original value. Thereby, the transfer timing roller 38 behaves like a driven roller of the secondary transfer roller 18.

  When it is determined that the recording paper 53 has passed the transfer timing roller 38 (Yes in S50), the motor control unit 81 switches from the controller 2 to the controller 1 (S61). That is, the motor control unit 81 returns the proportionality constant kp to the original value.

  As described above, the image forming apparatus 100 according to the present exemplary embodiment sets the proportionality constant kp smaller than the original value while the recording paper 53 is conveyed by both the transfer timing roller 38 and the secondary transfer roller 18. As a result, the influence of the torque on the direction of the secondary transfer roller 18 by the transfer timing roller 38 can be reduced. Accordingly, it is possible to prevent image quality degradation and color misregistration that may occur in the secondary transfer unit 50.

  Note that this embodiment and Embodiment 1 can be combined. That is, the proportionality constant kp can be made smaller than the value of the controller 1 and the integration constant ki = 0. By doing so, the influence of the torque that the transfer timing roller 38 exerts on the direction of the secondary transfer roller 18 can be reduced, and the transfer timing roller 38 performs an operation of pushing the recording paper 53 in the direction of the secondary transfer roller 18. Can be eliminated. In this case, the values of the proportional constant kp and the integral constant ki in the controller 2 are “proportional constant kp = 3/4 to 1/1 /” other than “proportional constant kp = 1/2, integral constant ki = 0”. 5 and integration constant ki = 0 to 1/10 ".

  In addition, since the gain is lowered over the entire frequency range of the control system, the overall response can be lowered.

  In Example 1 or 2, when the recording paper 53 straddles the transfer timing roller 38 and the secondary transfer roller 18, the motor control unit 81 switches from the controller 1 to the controller 2. In this embodiment, an image forming apparatus 100 that provides a constant torque command value to the motor driver 83 instead of the controller 2 will be described.

  FIG. 12 shows an example of a control block diagram of the motor control unit 81 of the present embodiment. In FIG. 12, the same parts as those of FIG. The motor driver 83 in FIG. 12 is configured by a current control driver.

  The controller 1 is the same as the controller 1 of the first and second embodiments. As in the first and second embodiments, the motor control unit 81 switches from the controller 1 to the torque command value by a switching signal. The switching signal corresponds to a signal indicating that the recording paper 53 has entered the secondary transfer roller 18, but when the controller 1 is implemented in software, the motor control unit 81 supplies the recording paper 53 to the secondary transfer roller 18. Is detected, the controller 1 stops the determination of the current command value, and switches to a control mode in which the torque command value is input to the motor driver 83. Further, the motor control unit 81 detects that the entire recording timing roller 38 has been discharged, and determines the current command value by the controller 1 from the control mode in which the torque command value is input to the motor driver 83. Switch to.

  In a state where the recording paper 53 straddles the transfer timing roller 38 and the secondary transfer motor 64, the motor control unit 81 converts the torque command value into a current value and sets it as a current command value for the motor driver 83. Since the motor driver 83 supplies a current corresponding to the current command value to the transfer timing motor 35, the transfer timing motor 35 is driven at a current value corresponding to the torque command value. The transfer timing motor 35 generates torque according to the torque command value.

  As for the torque command value, the secondary timing roller 38 pushes the secondary roller 18 so that the secondary motor 64 generates negative torque or enters the non-linear region of the motor driver 83 of the secondary motor 64. Decided not to. In brief, the torque command value is smaller than the load torque generated by the secondary transfer roller 18 when both the secondary transfer roller 18 and the transfer timing roller 38 transport the recording paper 53. Accordingly, the transfer timing roller 38 assists the load torque that the secondary transfer roller 18 conveys the recording paper 53 with the drive torque of the torque command value without the transfer timing roller 38 pressing the secondary transfer roller 18. Become. While both the secondary transfer roller 18 and the transfer timing roller 38 transport the recording paper 53, the recording paper 53 has a tension of a torque difference between the load torque of the secondary transfer motor 64 and the torque command value of the transfer timing motor 35. Will work.

  Since the load torque of the secondary rotation motor 64 varies depending on the linear speed (conveying speed) and the type of the recording paper 53, the motor control unit 81 determines the torque command value corresponding to the linear speed and the type of the recording paper 53. Is previously stored in a ROM or the like. By creating such a table of torque command values and storing it in the ROM or HDD, the motor control unit 81 performs software-based torque according to the linear velocity received from the main control unit 78 and the type of the recording paper 53. The command value can be selected and read.

  Further, instead of fixing the torque command, the motor control unit 81 may adjust the torque command value. The motor control unit 81 of the transfer timing roller 38 measures the load current and load torque of the secondary transfer roller 18 on the downstream side, and in accordance with this, determines the torque command value generated by the transfer timing roller 38 on the upstream side. decide. The motor control unit 81 determines a load torque corresponding to the load current of the secondary transfer roller 18 or a value slightly smaller (for example, about 98 to 90%) than the load torque of the secondary transfer roller 18.

  Further, the motor control unit 81 may estimate the load current and load torque of the secondary roller 18 by arranging an observer instead of directly measuring the load current and load torque of the secondary roller 18. . The observer is a state estimator that estimates the state x from the output g and the input f when the state x cannot be observed directly. When estimating the load current and the load torque, it is preferable to put a band limitation such as a low-pass filter before the input to the motor control unit 81 after the output of the observer. By doing so, it can be robust against noise.

  As described above, since the transfer timing roller 38 does not press the secondary transfer roller 18 in the control device 200 of this embodiment, it is possible to prevent image quality deterioration and color misregistration. Further, since the drive torque of the secondary roller 18 does not become near zero or negative torque (brake), the control system can be prevented from becoming unstable.

  The control of this embodiment is not a feedback system, including the following modifications. This means that the responsiveness becomes zero over the entire frequency range of the control system of the control device 200. That is, when both the secondary transfer roller 18 and the transfer timing roller 38 transport the recording paper 53, the responsiveness is lower than when only the secondary transfer roller 18 transports the recording paper 53.

[Operation procedure]
FIG. 13 is a flowchart illustrating an example of a procedure in which the motor control unit 81 controls the rotation speed of the transfer timing roller 38. The flowchart in FIG. 13 starts when the image forming apparatus 100 starts printing on the recording paper 53, for example.

  In the flowchart of FIG. 13, the description of the same steps as those in FIG. 9 is omitted. In FIG. 13, the processes of steps S42 and S62 are different from those of FIG. That is, when it is determined that the recording paper 53 has entered the secondary transfer roller 18 (Yes in S30), the motor control unit 81 supplies the torque command value to the motor driver 83 from the calculation of the current command value by the controller 1. Switch to the control mode (S42). Thereby, the transfer timing roller 38 behaves like a driven roller of the secondary transfer roller 18.

  When it is determined that the recording paper 53 has passed the transfer timing roller 38 (Yes in S50), the motor control unit 81 calculates the current command value by the controller 1 from the mode in which the torque command value is supplied to the motor driver 83. (S62). The subsequent procedure is the same as in FIG.

[Modification]
In FIG. 12 of the present embodiment, the motor driver 83 converts the torque command value into a current command value. However, in this configuration, it is assumed that a current control driver is used for the motor driver 83. Since the current control driver has a control loop that detects and feeds back current, a current detection sensor, an arithmetic unit, and the like are required, resulting in an increase in cost. In particular, when a three-phase brushless motor is used as the transfer timing motor 35, at least two sensors are required, and the control logic is complicated.

  Therefore, the motor driver 83 may be mounted as a voltage control driver instead of the current control driver. FIG. 14 shows an example of a control block diagram of the motor control unit 81. 14, the same parts as those in FIG. 12 are denoted by the same reference numerals, and the description thereof is omitted. The motor driver 83 in FIG. 14 is composed of a voltage control driver.

  The controller 1 is the same as the controller 1 of the first and second embodiments. Switching between the calculation by the controller 1 and the input of the current command value is executed by a switching signal as in the first and second embodiments. The motor control unit 81 detects that the recording paper 53 has entered the secondary transfer roller 18, stops determining the voltage command value by the controller 1, and switches to a control mode in which the voltage command value is input to the motor driver 83. Further, the motor control unit 81 detects that the entire recording timing roller 38 has been discharged, and determines the voltage command value by the controller 1 from the control mode in which the voltage command value is input to the motor driver 83. Switch to.

  The transfer timing motor 35 is voltage-driven by the motor driver 83 configured as a voltage control driver, and generates a torque corresponding to the motor voltage and the motor rotation speed. The voltage command value is determined so that a torque smaller than the load torque generated by the secondary transfer roller 18 when both the secondary transfer roller 18 and the transfer timing roller 38 transport the recording paper 53 is obtained. Accordingly, the transfer timing roller 38 assists the load torque that the secondary transfer roller 18 conveys the recording paper 53 with the driving torque corresponding to the voltage command value without the transfer timing roller 38 pushing the secondary transfer roller 18. It will be. At this time, the tension of the torque difference between the load torque of the secondary transfer roller 18 and the driving torque of the transfer timing roller 38 acts on the recording paper 53.

  The relationship between the voltage command value and the load torque of the transfer timing motor 35 will be described. The motor torque T corresponding to the voltage command value and the motor rotation speed is expressed by equation (2).

ＤＣ成分のモータトルクＴを得るため、式（２）においてs→0とすると次式が得られる。

In order to obtain the motor torque T of the DC component, if s → 0 in equation (2), the following equation is obtained.

そして、式（３）をモータトルクＴに対するモータ電圧の形に変形すると次式が得られる。

When the equation (3) is transformed into a motor voltage with respect to the motor torque T, the following equation is obtained.

式（４）により、図１２のトルク指令値と図１４の電圧指令値を同等に扱うことが可能になる。

Expression (4) makes it possible to treat the torque command value in FIG. 12 and the voltage command value in FIG. 14 equally.

  Since the load torque of the secondary roller 18 varies depending on the linear speed (conveying speed) and the type of the recording paper 53, the motor control unit 81 associates the voltage command value with the linear speed and the type of the recording paper 53. Is previously stored in a ROM or the like. By creating such a table of voltage command values and storing it in the ROM or HDD, the motor control unit 81 can perform a voltage in software according to the linear velocity received from the main control unit 78 and the type of the recording paper 53. The command value can be selected and read.

  Further, instead of fixing the voltage command value, the motor control unit 81 may adjust the voltage command value. The motor control unit 81 of the transfer timing roller 38 measures the load current and load torque of the secondary transfer roller 18 on the downstream side, and in accordance therewith, determines the voltage command value generated by the transfer timing roller 38 on the upstream side. decide. The motor control unit 81 has a load torque corresponding to the load current of the secondary roller 18 or a value slightly smaller than the load torque of the secondary roller 18 (for example, about 98 to 90%). A voltage command value is determined using Equation (4).

  Further, the motor control unit 81 may estimate the load current and load torque of the secondary roller 18 by arranging an observer instead of directly measuring the load current and load torque of the secondary roller 18. . When estimating the load current and the load torque, it is preferable to put a band limitation such as a low-pass filter before the input to the motor control unit 81 after the output of the observer. By doing so, it can be robust against noise.

  In the first to third embodiments, the transfer timing roller 38 or the registration roller 33 is used as the upstream roller, and the secondary roller 18 is used as the downstream roller. However, the upstream roller is fixed to the secondary roller 18 and the downstream roller is fixed. It can be a roller 12. In the first to third embodiments, the upstream roller is controlled like a driven roller. In this embodiment, an image forming apparatus 100 that controls a downstream roller like a driven roller of an upstream roller will be described.

  FIG. 15 shows an example of a schematic configuration diagram of the secondary transfer roller 18 and the fixing roller 12. In FIG. 15, the description of the same parts as those in FIG. 3 is omitted. A fixing device 19 that fixes the toner image on the recording paper 53 onto which the image has been transferred to the recording paper 53 is disposed downstream of the secondary transfer unit 50 in the conveyance direction of the recording paper 53. The fixing device 19 includes a fixing roller 12 and a pressure roller 25. The fixing roller 12 is rotationally driven by the rotational force of the fixing motor 66. The recording paper 53 whose size in the transport direction is equal to or larger than a predetermined size enters the fixing device 19 before passing through the secondary transfer unit 50. In this case, the recording paper 53 has a shape straddling between the secondary transfer unit 50 and the fixing device 19, and torque can be transferred between the secondary transfer unit 50 and the fixing device 19.

  In order to reduce the torque transfer, the control device 400 controls the fixing roller 12 like the driven roller of the secondary transfer roller 18. By doing so, the influence on the surface speed of the intermediate transfer belt 14 can be reduced rather than controlling the rotational speed of the secondary transfer roller 18 like the driven roller of the fixing roller 12.

  As described in the first to third embodiments, the rotation control of the upstream roller may be applied to the secondary roller 18. In the case of FIG. 15, the secondary roller 18 is an upstream roller, and the fixing roller 12 is a downstream roller. In this case, when the recording paper 53 is in a state straddling the secondary roller 18 and the fixing roller 12, the motor control unit 84 of the secondary roller 18 executes the control of the first to third embodiments, and the secondary roller. 18 is controlled like a driven roller of the fixing roller 12.

  FIG. 16 is an example of a hardware configuration diagram of the control device 400 and the like. The control device 400 controls the peripheral speed of the fixing roller 12 to the target speed. In FIG. 16, the description of the same parts as those in FIG. In FIG. 16, the fixing motor 66 is connected to the control device 400 instead of the transfer timing motor 35, and the fixing roller 12 is connected to the control device 400 instead of the transfer timing roller 38. The control blocks are omitted because they are the same as those shown in FIGS.

  When the motor control unit 96 of the fixing roller 12 in FIG. 16 determines that the recording paper 53 has entered the fixing roller 12, the motor control unit 96 executes the control of the first to third embodiments (integral constant ki = 0, proportional constant kp = 1). / 2 and supply of torque command value and voltage command value).

  When the integral constant ki = 0, the rotation speed of the fixing roller 12 becomes slower than the target speed due to an overflow (steady load) such as friction acting on the fixing roller 12. That is, as described in the first embodiment, a steady speed deviation occurs. When the recording paper enters the fixing roller 12 having the steady speed deviation, the rotational speed of the fixing roller 12 is increased by the rush torque, and the steady speed deviation is reduced. However, since the peripheral speed of the fixing roller 12 is lower than the peripheral speed of the secondary transfer roller 18, the recording paper tends to bend between the fixing roller 12 and the secondary transfer roller 18. The operation of pulling from the secondary roller 18 is not performed. In the case of thick paper with a large amount of weight, the peripheral speed of the fixing roller 12 may be approximately the same as that of the secondary roller 18, but the fixing roller 12 does not pull the recording paper 53 from the secondary roller 18.

  By setting the integral constant ki = 0, the secondary roller 18 acts to push the recording paper 53 into the fixing roller 12 (when the paper is not bent), and therefore the fixing roller 12 is the secondary roller. It is controlled like 18 driven rollers.

  Similarly, when the proportionality constant kp = 1/2, the rotation speed of the fixing roller 12 tends to be lower than the target speed due to an overflow (steady load) such as friction acting on the fixing roller 12. When the motor control unit 96 switches from the controller 1 to the controller 2 and the recording paper enters the fixing roller 12 having a speed deviation, the rotational speed of the fixing roller 12 is increased by the rush torque, and the speed deviation is reduced. However, by setting the proportionality constant kp = 1/2, the gain decreases in the entire frequency range of the control system, so that the peripheral speed of the fixing roller 12 is lower than the peripheral speed of the secondary transfer roller 18. Will tend to. Therefore, the recording paper tends to bend between the fixing roller 12 and the secondary transfer roller 18, and the fixing roller 12 does not pull the recording paper 53 from the secondary transfer roller 18.

  Further, when the proportional constant kp = 1/2, the response frequency is reduced and the gain is decreased. Therefore, the motor control unit of the fixing motor 66 against the fluctuation (AC component) of the rotation speed generated by the secondary transfer roller 18. The compensation by 96 is reduced. Therefore, the influence of the torque of the fixing roller 12 on the secondary transfer roller 18 can be reduced. In general, since the control system is weak against the transient response, the transient response when the recording paper 53 enters the fixing roller 12 can be improved.

  When the motor control unit 96 of the fixing roller 12 supplies a torque command value or a voltage command value to the motor driver 98, the process is the same as in the third embodiment. In other words, the motor controller 96 of the fixing roller 12 sets a torque command value that is greater than the load torque generated by the secondary roller 18 when both the secondary roller 18 and the fixing roller 12 transport the recording paper 53. Small value. In the case of a voltage command value, the voltage command value is set to a value smaller than the load torque generated by the secondary roller 18 when converted to a torque value.

  By doing this, the fixing roller 12 does not pull the secondary transfer roller 18, and the load torque that the secondary transfer roller 18 conveys the recording paper 53 with the drive torque corresponding to the torque command value or the voltage command value. The fixing roller 12 assists. At this time, the recording paper 53 is pushed by a torque difference obtained by subtracting the torque command value of the fixing roller 12 from the load torque of the secondary transfer roller 18.

  The motor control unit 96 may store torque command values or voltage command values in advance, or may determine these based on the torque command value or voltage command value determination method described in the third embodiment.

[Operation procedure]
FIG. 17 is a flowchart illustrating an example of a procedure in which the motor control unit 96 of the fixing motor 66 controls the rotation speed of the fixing roller 12.

  The main control unit 78 transmits a drive command to the motor control units 84 and 96. When the drive command is received, first, the motor control unit 84 starts speed control of the secondary rotation motor 64 (S11).

Next, the motor control unit 96 starts speed control of the fixing motor 66 (S21).
Next, the motor control unit 96 determines whether or not the recording paper 53 has entered the fixing roller 12 (S31). There are the following methods for determining whether or not the recording paper 53 has entered the fixing roller 12.
(A) Detecting that the registration roller 33 or the transfer timing roller 38 has started transporting the recording paper 53 (b) monitoring the drive current detected by the current sensor 97 of the motor driver 98 of the fixing motor 66 (a). In the case of the determination method, the motor control unit 96 compares the reference time stored in advance with the elapsed time after passing the registration roller 33 or the transfer timing roller 38, and the recording paper 53 enters the fixing roller 12. It is determined that Further, the paper passage detection sensor 37 may be used. When the determination method (b) is adopted, the motor control unit 96 monitors the driving current of the fixing motor 66. For example, when the change in the current value exceeds a predetermined value, the recording paper 53 enters the fixing roller 12. Is determined.

  When it is determined that the recording paper 53 has entered the fixing roller 12 (Yes in S31), the motor control unit 96 switches from the controller 1 to the controller 2, switches to torque command value supply, or supplies voltage command value. Switch (S43). As a result, the fixing roller 12 behaves like a driven roller of the secondary transfer roller 18.

Subsequently, the motor controller 96 of the fixing motor 66 determines whether or not the entire recording paper 53 has passed the fixing roller 12 (S51). There are the following methods for determining whether or not it has passed.
(C) The timing at which the entire recording paper 53 passes the fixing roller 12 is estimated. (D) The recording paper 53 that monitors the drive current detected by the current sensor 97 of the motor driver 98 of the fixing motor 66 passes the fixing roller 12. When it determines with having carried out (Yes of S51), the motor control part 96 switches to control by the controller 1 (S63).

  Next, the motor control units 84 and 96 determine whether or not a stop request for the secondary transfer roller 18 and the fixing roller 12 has been received from the main control unit 78 (S71). The stop request output from the main control unit 78 means, for example, that printing on the recording paper 53 is completed or that there is a paper jam.

  When the stop request for the secondary roller 18 and the fixing roller 12 is not received from the main controller 78 (No in S71), the motor controllers 84 and 96 repeat the processing from Step S30. That is, the printing on the second and subsequent recording sheets 53 is repeated.

  When the stop request for the secondary roller 18 and the fixing roller 12 is received from the main controller 78 (Yes in S71), the motor controllers 84 and 96 and the motor controller 84 end the control (S81). As a result, the secondary transfer roller 18 and the fixing roller 12 are stopped.

  As described above, in a state where the recording paper 53 straddles the upstream roller and the downstream roller, the upstream roller controlled as the driven roller pushes the recording paper 53 and the upstream roller or the downstream roller slips. Can be prevented.

  In the present embodiment, the conveyance of the recording paper 53 has been described as an example, but the present invention can be suitably applied to a conveyance device or a conveyance method such as a glass sheet or an iron plate in which a medium to be conveyed straddles two rollers.

12 fixing roller 14 intermediate transfer belt 15 tension roller 17 repulsive roller 18 secondary transfer roller 19 fixing device 20 intermediate transfer roller 33 registration roller 35 transfer timing motor 38 transfer timing roller 50 secondary transfer unit 53 recording paper 61 intermediate transfer motor 63 second Next rotation encoder 64 Secondary rotation motor 65 Fixing encoder 66 Fixing motor 83, 86, 98 Motor driver 81, 84, 96 Motor controller 100 Image forming apparatus 200, 300, 400 Controller

JP 2008-158076 A

Claims (15)

A first transport rotating means for transporting a sheet-like transported medium in the rotation direction;
A second transport rotating means disposed downstream or upstream of the first transport rotating means for transporting the transported medium in the rotation direction;
First rotating body driving means for rotationally driving the first transport rotating means;
Second rotating body driving means for rotationally driving the second transport rotating means;
First speed control means for controlling the rotational speed of the first rotating body driving means to a first target speed;
Second speed control means for controlling the rotation speed of the second rotating body driving means to a second target speed;
The second speed control means includes
The first controller used when only the second rotating body driving unit conveys the transported medium, and the transported medium is both the first transport rotating unit and the second transport rotating unit. And a second controller used when being conveyed by
The gain of the predetermined low frequency region of the second controller is lower than the gain of the predetermined low frequency region of the first controller, and the gain of the predetermined low frequency region of the first controller and the second The difference between the gain of the predetermined low frequency region of the controller of the first controller is larger than the difference between the gain of the predetermined high frequency region of the first controller and the gain of the predetermined high frequency region of the second controller. A conveying device characterized by the above. The second speed control means starts from a state in which only the second rotating body driving means conveys the transported medium, and both the first transport rotating means and the second transport rotating means are configured to transport the transported medium. When changing to the state of transporting the first controller to the second controller,
When the state in which both the first transport rotation unit and the second transport rotation unit transport the medium to be transported changes from the state in which only the second rotating body driving unit transports the medium to be transported, Switching from a second controller to the first controller;
The conveying apparatus according to claim 1.   The transport apparatus according to claim 1, wherein the second controller is a controller having an I-control integral constant smaller than that of the first controller.   The integral constant of P control of the second controller is smaller than the proportional constant of P control of the second speed control means when the transported medium is transported only by the second transport rotating means. The conveying apparatus according to claim 3.   4. The transfer apparatus according to claim 3, wherein the second controller has an I-control integral constant of zero. When using the second controller, the second speed control means controls the rotational speed of the second rotating body driving means so as to be a rotational speed according to a predetermined steady torque value.
The conveying apparatus according to claim 3. The transport apparatus according to claim 6 , wherein the steady torque value is smaller than a torque received by the first rotating body driving unit via the transported medium. When using the second controller, the second speed control means controls the rotation speed of the second rotating body driving means so as to have a rotation speed according to a predetermined voltage value.
The conveying apparatus according to claim 3. Current detection means for detecting a drive current for driving the first rotating body drive means;
The transport apparatus according to claim 3, wherein the second speed control unit switches to the second controller based on a change in the current detection unit. The transport device according to claim 1 , wherein the difference is a difference when a gain height is expressed in decibels. The first transport rotation means is a secondary transfer roller, and the second transport rotation means is a transfer timing roller or a registration roller.
The conveyance apparatus of any one of Claims 3-10 characterized by the above-mentioned. The transport apparatus according to claim 3, wherein the first transport rotation unit is a secondary roller, and the second transport rotation unit is a fixing roller. A conveying device according to any one of claims 1 to 12 ,
And an image forming unit that forms an image on the transported medium. A first transport rotating means for transporting a sheet-like transported medium in the rotation direction;
A second transport rotating means disposed downstream or upstream of the first transport rotating means for transporting the transported medium in the rotation direction;
First rotating body driving means for rotationally driving the first transport rotating means;
Second rotating body driving means for rotationally driving the second transport rotating means;
First speed control means for controlling the rotational speed of the first rotating body driving means to a first target speed;
And a second speed control means for controlling the rotational speed of the second rotating body driving means to a second target speed, a transported medium transport method for a transport device,
Using the first controller of the second speed control means when only the second rotating body driving means conveys the medium to be conveyed;
Using the second controller of the second speed control means when the transported medium is transported by both the first rotating body driving means and the second rotating body driving means. Have
The gain of the predetermined low frequency region of the second controller is lower than the gain of the predetermined low frequency region of the first controller, and the gain of the predetermined low frequency region of the first controller and the second The difference between the gain of the predetermined low frequency region of the controller of the first controller is larger than the difference between the gain of the predetermined high frequency region of the first controller and the gain of the predetermined high frequency region of the second controller. A method for transporting a medium to be transported. A first transport rotating means for transporting a sheet-like transported medium in the rotation direction;
A second transport rotating means disposed downstream or upstream of the first transport rotating means for transporting the transported medium in the rotation direction;
First rotating body driving means for rotationally driving the first transport rotating means;
Second rotating body driving means for rotationally driving the second transport rotating means;
First speed control means for controlling the rotational speed of the first rotating body driving means to a first target speed;
A second speed control means for controlling the rotational speed of the second rotating body driving means to a second target speed;
A function as a second speed control means for controlling the rotation speed of the second rotating body driving means to a second target speed;
A step of causing the second speed control means to use the first controller when only the second rotating body driving means transports the transported medium;
Executing the second speed control means to use the second controller when the transported medium is transported by both the first rotating body driving means and the second rotating body driving means. Let
The gain of the predetermined low frequency region of the second controller is lower than the gain of the predetermined low frequency region of the first controller, and the gain of the predetermined low frequency region of the first controller and the second The difference between the gain of the predetermined low frequency region of the controller of the first controller is larger than the difference between the gain of the predetermined high frequency region of the first controller and the gain of the predetermined high frequency region of the second controller. A program characterized by

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